public MainWindow()
{
InitializeComponent();
parametrs = new SIFTParametrs()
{
nFeatures = 0,
nOctaveLayers = 5,
contrastThreshold = 0.04,
edgeThreshold = 10,
sigma = 1.6
};
/*
* Bitmap awad = new Bitmap("gps-disconnected.png");
* for (int i = 0; i < awad.Width; i++)
* for (int j = 0; j < awad.Height; j++)
* {
* var col = awad.GetPixel(i, j);
* if (col.A > 200 ||( col.R == 0 && col.G == 0 && col.B == 0))
* awad.SetPixel(i, j, Color.FromArgb(0, 0, 255));
* else
* awad.SetPixel(i, j, Color.FromArgb(0, 0, 0, 0));
*
*
* }
* awad.Save("lost-signalIcon.png", SD.Imaging.ImageFormat.Png);
*/
}
public OriantatioOnMap(Image <Rgb, byte> Map, SIFTParametrs parametrs, double Compression = 4, double Radius = 20)
{
this.Map = Map;
using (SIFT siftCPU = new SIFT(parametrs.nFeatures, parametrs.nOctaveLayers,
parametrs.contrastThreshold, parametrs.edgeThreshold, parametrs.sigma))
{
VectorMapKeyPoint = new VectorOfKeyPoint(siftCPU.Detect(Map));
VectorMapKeyPoint = FilterKeyPoint(VectorMapKeyPoint, Map, Compression, Radius, parametrs);
siftCPU.Compute(Map, VectorMapKeyPoint, MapDiscriptors);
}
}
public Image <Rgb, byte> ShowMatches(Image <Rgb, byte> SubMap, int k, double uniquenessThreshold,
int gridx, int gridy, double persent, SIFTParametrs parametrs, out System.Windows.Point?location)
{
location = null;
VectorOfKeyPoint VectorSubMapKeyPoint = null;
Mat SubMapDiscriptors = null;
VectorOfVectorOfDMatch matches = null;
Mat mask = null;
System.Drawing.Rectangle zone = new System.Drawing.Rectangle();
Mat result = new Mat();
Mat homography = null;
try
{
FindMatches(SubMap, out VectorSubMapKeyPoint, out SubMapDiscriptors, out matches, out mask, out zone, out homography,
k, uniquenessThreshold, parametrs);
Features2DToolbox.DrawMatches(SubMap, VectorSubMapKeyPoint, Map, VectorMapKeyPoint, matches,
result, new MCvScalar(0, 255, 0), new MCvScalar(0, 0, 255), mask, Features2DToolbox.KeypointDrawType.DrawRichKeypoints);
PointF[] points = GetMapPoint(matches, mask);
Point point = FoundCenter(points);
if (MatchCorrect(Map.Mat, points, gridx, gridy, persent) && (!double.IsNaN(point.X) && !double.IsNaN(point.Y)))
{
try
{
CvInvoke.Circle(result, point, 13, new MCvScalar(255, 0, 0), 10);
location = ImageTransform.SDtoSW(point);
}
catch { }
}
return(new Image <Rgb, byte>(result.Bitmap));
}
catch
{
return(Map);
}
}
public void FindMatches(Image <Rgb, byte> SubMap, out VectorOfKeyPoint VectorSubMapKeyPoint,
out Mat SubMapDiscriptors, out VectorOfVectorOfDMatch matches,
out Mat mask, out System.Drawing.Rectangle zone, out Mat homography, int k, double uniquenessThreshold, SIFTParametrs parametrs)
{
VectorSubMapKeyPoint = new VectorOfKeyPoint();
SubMapDiscriptors = new Mat();
matches = new VectorOfVectorOfDMatch();
zone = new System.Drawing.Rectangle();
using (SIFT siftCPU = new SIFT(parametrs.nFeatures, parametrs.nOctaveLayers,
parametrs.contrastThreshold, parametrs.edgeThreshold, parametrs.sigma))
{
siftCPU.DetectAndCompute(SubMap, null, VectorSubMapKeyPoint, SubMapDiscriptors, false);
}
matches = new VectorOfVectorOfDMatch();
using (Emgu.CV.Flann.LinearIndexParams ip = new Emgu.CV.Flann.LinearIndexParams())
using (Emgu.CV.Flann.SearchParams sp = new SearchParams())
using (Emgu.CV.Features2D.DescriptorMatcher matcher = new FlannBasedMatcher(ip, sp))
{
matcher.Add(SubMapDiscriptors);
matcher.KnnMatch(MapDiscriptors, matches, k, null);
}
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
homography = null;
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(VectorSubMapKeyPoint, VectorMapKeyPoint,
matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(
VectorSubMapKeyPoint, VectorMapKeyPoint, matches, mask, 2);
}
}
}
private VectorOfKeyPoint FilterKeyPoint(VectorOfKeyPoint InputVecor, Image <Rgb, byte> SourceImage, double Compression, double Diameter, SIFTParametrs parametrs)
{
VectorOfKeyPoint OutputVector = null;
SourceImage = SourceImage.Resize(1.0 / Compression, Emgu.CV.CvEnum.Inter.Area);
using (SIFT siftCPU = new SIFT(parametrs.nFeatures, parametrs.nOctaveLayers,
parametrs.contrastThreshold, parametrs.edgeThreshold, parametrs.sigma))
{
VectorOfKeyPoint MainVecor = new VectorOfKeyPoint(siftCPU.Detect(SourceImage, null));
OutputVector = new VectorOfKeyPoint(RemoveFakeKeyPoint(MainVecor, InputVecor, Compression, Diameter));
}
return(OutputVector);
}
